A method for wrong-way driver detection, including a step of reading in position data via an interface, the position data representing a measured position of a vehicle, a step of reading in map data mapping road segments negotiable by the vehicle, a step of reading in a plurality of particles, one particle representing an assumed position of the vehicle and a weighting assigned to the assumed position, and a step of determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A method comprising: reading in position data via an interface, the position data representing a measured position of a vehicle; reading in map data mapping road segments negotiable by the vehicle; reading in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determining a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; comparing an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determining that the vehicle is driving in a wrong direction based on the comparing.
2. The method as recited in claim 1 , further comprising: providing a wrong-way driving signal using the plurality of particles and the deviation, the wrong-way driving signal indicating whether or not a wrong-way drive of the vehicle is present.
3. The method as recited in claim 1 , further comprising: determining the plurality of particles using a particle filter.
4. The method as recited in claim 1 , wherein, in the step of determining the deviation, the deviation is determined using a distance between the plurality of particles and the measured position.
5. The method as recited in claim 1 , wherein the map data map parameters of a road network negotiable by the vehicle, and in the step of determining the deviation, the deviation is determined using the parameters.
6. The method as recited in claim 5 , further comprising: reading in movement data representing measured movements of the vehicle, and in the step of determining the deviation, the deviation is determined based on a comparison between the movement data and the parameters.
7. The method as recited in claim 6 , wherein the movement data map a transverse acceleration of the vehicle, and the parameters map a course of a curvature of a road segment mapped by the map data, which is assigned or assignable to at least one of the plurality of particles.
8. The method as recited in claim 6 , wherein the movement data map a driving direction of the vehicle, and the parameters map a driving direction specification of a road segment mapped by the map data, which is assigned or assignable to at least one of the plurality of particles.
9. The method as recited in claim 8 , further comprising: selecting at least one plausible road segment from the road segments mapped by the map data, the plausible road segment representing a road segment to which at least one of the plurality of particles is assignable and which has a driving direction specification agreeing with the driving direction of the vehicle.
10. The method as recited in claim 1 , wherein, in the step of determining the deviation, the deviation is determined based on an assignability of the plurality of particles to the road segments mapped by the map data.
11. The method as recited in claim 1 , wherein, in the reading in of the position data step, the position data are read in via an interface of a processor cloud.
12. A device comprising: a processor; and at least one interface; wherein the processor is configured to: read in position data via the at least one interface, the position data representing a measured position of a vehicle; read in map data mapping road segments negotiable by the vehicle; read in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determine a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determine a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; compare an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determine that the vehicle is driving in a wrong direction based on the comparing.
13. A system comprising: at least one transmitter which is situatable or situated in a vehicle and designed to emit position data, the position data representing a measured position of a vehicle; and a device that includes a processor, wherein the processor is configured to: receive the position data emitted by the at least one transmitter via an interface; read in map data mapping road segments negotiable by the vehicle; read in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determine a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determine a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; compare an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determine that the vehicle is driving in a wrong direction based on the comparing.
14. A non-transitory machine-readable memory medium on which is stored a computer program that is executable by a computer and that, when executed by the computer, causes the computer to perform a method, the method comprising: reading in position data via an interface, the position data representing a measured position of a vehicle; reading in map data mapping road segments negotiable by the vehicle; reading in a plurality of particles that each represents an assumed position of the vehicle and a weighting assigned to the assumed position; determining a deviation between the plurality of particles and the measured position represented by the position data, using the map data; determining a plausible road segment of the road segments of the map data based on the deviation, for which it is assumed that the vehicle is situated thereon; comparing an instantaneous driving direction of the vehicle with a driving direction assigned to the determined road segment in the map data; and determining that the vehicle is driving in a wrong direction based on the comparing.
15. The method as recited in claim 1 , wherein the determination of the deviation is obtained by performing a comparison between information of the emitted position data and information of the plurality of particles, and the method further comprises revising the plurality of particles for future comparisons based on the emitted position data.
16. The method as recited in claim 1 , further comprising: determining a road segment of the road segments of the map data as being implausible for the vehicle to be situated on based on the deviation.
17. The method as recited in claim 16 , wherein the implausible road segment is determined when at least one of: a curvature of the implausible road segment does not agree with the position data, or a heading of the implausible road segment does not agree with the position data.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
April 13, 2017
September 8, 2020
Browse 5M+ US patents with plain-English claim translations and AI-generated analysis.